CN102661717A - Monocular vision measuring method for iron tower - Google Patents
Monocular vision measuring method for iron tower Download PDFInfo
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- CN102661717A CN102661717A CN2012101417624A CN201210141762A CN102661717A CN 102661717 A CN102661717 A CN 102661717A CN 2012101417624 A CN2012101417624 A CN 2012101417624A CN 201210141762 A CN201210141762 A CN 201210141762A CN 102661717 A CN102661717 A CN 102661717A
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Abstract
The invention relates to a monocular vision measuring method for an iron tower. According to the method, the measurement of rod pieces of the iron tower in a full-width photo is realized by the actual length represented by unit pixel distance at a specific position in the photo. The method is finished by the following processes of: camera calibration, camera elevation (vertical angle) measurement, camera visual angle (divergence angle) calculation, image correction and the like, wherein the camera calibration is finished at one time; the image correction, the divergence angle calculation and the like can be finished by computer programs; and therefore, a rapid measurement task is realized. According to the method provided by the invention, the measurement work can be finished rapidly only by using a camera and a range finder; the iron tower only needs to be shot once, and then image calculation and processing are performed in an office, so that the aim of measuring the iron tower is fulfilled without influence caused by charged and weather conditions; much data information is obtained by the measurement; and all rod pieces can be measured at the same time.
Description
Technical field
The present invention relates to a kind of iron tower monocular vision measuring method.
Background technology
Iron tower for various reasons can run-off the straight, distortion such as bending, distortion after installation, in the operational process, when distortion is above standard permissible value, need iron tower be handled, otherwise the accident of falling the tower might take place under effect of factors such as atrocious weather.The distortion of supervision iron tower also is an important content of iron tower supervision.Iron tower is measured and is all adopted total powerstation, transit or last tower crane line etc. to measure at present.But these method measuring speeds are slower, measure the influence receive charged, weather etc. easily and can't accomplish, and the data message that measures is few, can not measure all rod members simultaneously.
Summary of the invention
The purpose of this invention is to provide a kind of iron tower monocular vision measuring method that only adopts a camera and stadimeter can accomplish the iron tower surveying work fast; Only need iron tower is carried out disposable taking pictures; In office, carry out image calculation and processing then, thereby accomplish the measurement purpose of iron tower.
The technical scheme that the present invention adopts:
A kind of iron tower monocular vision measuring method, concrete steps are following:
(1) mensuration of the distance L of the tested iron tower of distance of taking pictures:
A. the situation of being convenient to measure for L is directly measured L with stadimeter;
B. the situation that inconvenience is measured for L, adopt following method:
At first demarcate camera k value: with camera the demarcation object of known physical size and distance is taken pictures, measure the corresponding pixel coordinate difference of physical size of this demarcation object, with formula (1) computing camera k value;
In the formula: Δ X
1Be the corresponding coordinates of pixels difference of demarcation object physical size,
L 1 Be the horizontal range of camera apart from the demarcation object,
B 1 Be the physical size of demarcation object,
fBe focal length;
Measure any actual range of being convenient to measure on the tested iron tower then at 2
B 2 , with the camera of same model, pixel tested iron tower is taken pictures, calculate the pixel coordinate difference of these 2 correspondences in the photo
Δ X 2 ,
k,
fBe worth knownly, substitution formula (1) computing camera is apart from the actual range L of tested iron tower;
(2) regard iron tower as line segment perpendicular to the ground,, specifically adopt in following two kinds of methods any one according to the true altitude of the tested iron tower of image distortion correction algorithm computation:
Method (1):
A. calculate the tested iron tower arc length of virtual projection face of part in imaging of being taken pictures:
At first measure the taken pictures pixel coordinate difference Δ X of part highs and lows of tested iron tower, use formula (2) to calculate to be taken pictures the arc length of the virtual projection face of part in imaging then;
In the formula:
Be the tested iron tower arc length of virtual projection face of part in imaging of being taken pictures, B
2By in the step (1) the actual range of 2 of surveys,
Δ X 2 By in the step () the pixel coordinate of 2 of surveys poor,
Δ XFor the taken pictures pixel coordinate of part highs and lows of tested iron tower poor;
B. use formula (3) to proofread and correct the true altitude HA that draws tested iron tower:
（3）；
In the formula: AG is the taken pictures vertical range of part perigee distance camera of iron tower, is the tested iron tower below the root for the part minimum point of being taken pictures, AG=0;
Method (2):
Measure the actual elevation angle gamma of taking pictures with the vertical angle measuring instrument when a. tested iron tower being taken pictures;
B. the spread angle β of computing camera
In the formula: n is the sum of all pixels of the measured direction of iron tower in photo;
C. use formula (5) to proofread and correct the height H A that draws tested iron tower:
(3) with similar triangle theory height H A is carried out the true altitude PQ that corrected Calculation draws tested iron tower.
Measuring principle of the present invention is to realize the method for iron tower rod member measurement in the full width photo through the physical length of ad-hoc location unit picture element point distance representative in the photo.Mainly accomplish through plurality of processes such as camera calibration, the elevation angle of taking pictures (vertical angle) measurement, camera visual angle (spread angle) calculating, image rectifications; The disposable completion of the demarcation of camera; Image rectification, spread angle calculating etc. can be accomplished through computer program, have realized the task of quick measurement thus.
Because image comes lecture to distort with respect to material object, and adopt telephoto lens can reduce measuring error greatly, when therefore measuring iron tower, preferably select telephoto lens for use and join tripod.The camera lens of camera is the general mode that adopts rotation when machining, so the circular distortion of the distortion of image is in the majority.Promptly aspect horizontal, follow same algorithm with the distortion of vertical direction.When having pincushion distortion, the correction of carrying out the both direction algorithms of different must be arranged.
The principle of image distortion correction algorithm is following:
The image-forming principle of focal radius is followed in the imaging of camera, it is contemplated that, calculating chart shown in Figure 1 is designed in the imaging of object projection on a virtual focal surface earlier, and then projection on the CCD inductor in proportion thus.Regard upright iron tower as vertical single line earlier among Fig. 1.
（6）
The relation that can get picture size BF and physical size HA to (6) formula two ends integration is formula (7):
In the formula (7), L can calculate by through type (1), also can directly draw through stadia surveying.AG can draw through the stadimeter actual measurement, can also draw through actual elevation angle gamma and the spread angle β that measures camera.The actual range dimensional measurement is more accurate.
When calculating the HA value with actual elevation angle gamma and spread angle β, formula (7) can be transformed to formula (8), and principle is as shown in Figure 2.
(8) formula and (1) formula simultaneous can be got:
Wherein camera spread angle β can be formulated as follows through the physical size
and sum of all pixels n and object distance L of the corresponding unit picture element length representative of horizontal level:
Can also obtain by formula (11) through demarcating good photo detector size M and focal distance f.
The demarcation of photo detector size can be demarcated through following formula, the accurate data that also can provide according to camera manufacturer, and suggestion is demarcated with reality and is as the criterion, and demarcates by formula (12).Take pictures with telephoto lens, the record related data, substitution (12) formula can get M.
Can calculate the vertical range of iron tower diverse location by formula (7), (8), (9), also can calculate any any horizontal range of iron tower apart from image center by same method apart from camera position.Can calculate the plan range of any point-to-point transmission thus.Then can measure space length through the photo more than two.
The invention has the beneficial effects as follows: the surveying instrument of use is few, only can accomplish surveying work fast with a camera and a stadimeter; Only need iron tower is carried out disposable taking pictures, in office, carry out image calculation and processing then, thereby accomplish the measurement purpose of iron tower, do not receive charged and influence weather condition; The data message that measures is many, can measure all rod members simultaneously.
Description of drawings
Fig. 1 is a measuring principle synoptic diagram of the present invention;
Fig. 2 is for calculating the synoptic diagram of HA value with actual elevation angle gamma and spread angle β;
The synoptic diagram that Fig. 3 revises the height of tested iron tower with similar triangle theory for the present invention.
Embodiment
Certain tower falls, and analyzes the height that reason need be known tower, does not have the condition of measurement because tower has fallen; But leave the photo of this iron tower; This photo files IMG_4375.jpg by name shows that camera is CANON EOS350D, and focal length is 91mm, and pixel is 2496 * 1664.
In order to calculate the height of iron tower.The known dimensions object is taken pictures with 2496 * 1664 pixels with this camera, focal distance f is 94mm, object distance L
1Be 3566mm, known full size B
1Be 30mm, corresponding pixel difference Δ X in kind
1Be 98.The k value that substitution formula (1) calculates this camera is 123.9.
Can derive the position of at that time iron tower being taken pictures according to formula (1) formula apart from iron tower L is:
To open B be 3083mm to the root of iron tower, and corresponding pixel coordinate difference Δ X is 273, and well-known root open position unit picture element point is the 3083/273=11.3mm/ image distance apart from the physical size of representing.Substitution formula (13) can get L=127.3m.Be the taking pictures apart from iron tower 127.3m of file IMG_4375.jpg photo by name.Iron tower height pixel difference Δ X is 2075, and substitution formula (2) then has
=2075 * 11.3=23.4m.Measuring the iron tower root is 0mm apart from camera vertical range AG.Substitution (3) formula gets tower height HA=23.6m.Find that tower height is 23.9 meters after finding drawing, promptly have 0.3 meter error.Because iron tower is a rectangular pyramid shape structure; Consider the influence on inclined-plane; Also need do further correction according to triangle is similar; See Fig. 3, OA is L among the figure, AQ for the iron tower root open half the; Then equate according to similar true altitude
=23.88m and the drawing that calculates iron tower of triangle OAH with triangle OQR.
Claims (1)
1. iron tower monocular vision measuring method is characterized in that concrete steps are following:
(1) mensuration of the distance L of the tested iron tower of distance of taking pictures:
A. the situation of being convenient to measure for L is directly measured L with stadimeter;
B. the situation that inconvenience is measured for L, adopt following method:
At first demarcate camera k value: with camera the demarcation object of known physical size and distance is taken pictures, measure the corresponding pixel coordinate difference of physical size of this demarcation object, with formula (1) computing camera k value;
In the formula: Δ X
1Be the corresponding coordinates of pixels difference of demarcation object physical size,
L 1 Be the horizontal range of camera apart from the demarcation object, unit is mm,
B 1 For demarcating the physical size of object, unit is mm,
fBe focal length, unit is mm, and the unit of camera k value is image distance/mm;
Measure any actual range of being convenient to measure on the tested iron tower then at 2
B 2 , with the camera of same model, pixel tested iron tower is taken pictures, calculate the pixel coordinate difference of above-mentioned 2 correspondences in the photo
Δ X 2 ,
k,
fBe worth knownly, substitution formula (1) computing camera is apart from the actual range L of tested iron tower;
(2) regard iron tower as line segment perpendicular to the ground,, specifically adopt in following two kinds of methods any one according to the true altitude of the tested iron tower of image distortion correction algorithm computation:
Method (1):
A. calculate the tested iron tower arc length of virtual projection face of part in imaging of being taken pictures:
At first measure the taken pictures pixel coordinate difference Δ X of part highs and lows of tested iron tower, use formula (2) to calculate to be taken pictures the arc length of the virtual projection face of part in imaging then;
In the formula:
Be the tested iron tower arc length of virtual projection face of part in imaging of being taken pictures, unit is m, B
2By in the step () the actual range of 2 of surveys, unit is mm,
Δ X 2 By in the step () the pixel coordinate of 2 of surveys poor, unit is mm,
Δ XFor the taken pictures pixel coordinate of part highs and lows of tested iron tower poor;
B. use formula (3) to proofread and correct the true altitude HA that draws tested iron tower:
In the formula: AG is the taken pictures vertical range of part perigee distance camera of iron tower, is the tested iron tower below the root for the part minimum point of being taken pictures, AG=0;
Method (2):
Measure the actual elevation angle gamma of taking pictures with the vertical angle measuring instrument when a. tested iron tower being taken pictures;
B. the spread angle β of computing camera
In the formula: n is the sum of all pixels of the measured direction of iron tower in photo;
C. use formula (5) to proofread and correct the height H A that draws tested iron tower:
（5）；
In the formula: γ is the elevation angle of camera, i.e. the angle of camera center line and horizontal direction;
(3) with similar triangle theory height H A is carried out the true altitude PQ that corrected Calculation draws tested iron tower.
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| CN102927917A (en) * | 2012-10-26 | 2013-02-13 | 河北省电力公司电力科学研究院 | Multi-view vision measurement method of iron tower |
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| CN104499756A (en) * | 2014-12-05 | 2015-04-08 | 国家电网公司 | Method for examining loosing of iron tower bolts |
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